Obstacle avoidance research of snake-like robot based on multi-sensor information fusion

Wu, Qianying; Gao, Junyao; Chengzu, Huang; Zhao, Zhizhong; Wang, Cheng; Su, Xuandong; Liu, Huaxin; Li, Xin; Liu, Yi; Xu, Zhe

doi:10.1109/robio.2012.6491106

Cited by 5 publications

(4 citation statements)

References 6 publications

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“…Multi-sensor information fusion (Wu et al , 2012) and neural network control systems (Su et al , 2020) are the key to realizing the autonomous intelligent control of snake-inspired robots (Bing et al , 2017). Snake-inspired robots have evolved from a single winding gait to adjusting its gait by using sensors to perceive changing surroundings (Manzoor et al , 2020).…”

Section: Discussion and Future Directionmentioning

confidence: 99%

The snake-inspired robots: a review

Yang

Zheng²,

Lu³

et al. 2022

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Purpose Snake-inspired robots are of great significance in many fields because of their great adaptability to the environment. This paper aims to systematically illustrate the research progress of snake-inspired robots according to their application environments. It classifies snake-inspired robots according to the numbers of degrees of freedom in each joint and briefly describes the modeling and control of snake-inspired robots. Finally, the application fields and future development trends of snake-inspired robots are analyzed and discussed. Design/methodology/approach This paper summarizes the research progress of snake-inspired robots and clarifies the requirements of snake-inspired robots for self-adaptive environments and multi-functional tasks. By equipping various sensors and tool modules, snake-inspired robots are developed from fixed-point operation in a single environment to autonomous operation in an amphibious environment. Finally, it is pointed out that snake-inspired robots will be developed in terms of rigid and flexible deformable structure, long endurance and multi-function and intelligent autonomous control. Findings Inspired by the modular and reconfigurable concepts of biological snakes, snake-inspired robots are well adapted to unknown and changing environments. Therefore, snake-inspired robots will be widely used in industrial, military, medical, post-disaster search and rescue applications. Snake-inspired robots have become a hot research topic in the field of bionic robots. Originality/value This paper summarizes the research status of snake-inspired robots, which facilitates the reader to be a comprehensive and systematic understanding of the research progress of snake-inspired robots. This helps the reader to gain inspiration from biological perspectives.

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Section: Discussion and Future Directionmentioning

confidence: 99%

The snake-inspired robots: a review

Yang

Zheng²,

Lu³

et al. 2022

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“…The model-based gait planning method mainly includes the multi-link model (Figure 4a) and the inverted pendulum model (Figure 4b) [61,62]. The gait planning of the multi-link model has been successfully applied to the Honda robot.…”

Section: • Model-based Gait Planningmentioning

confidence: 99%

“…This is an interesting observation, but also not that surprising. Animal experiments [52] and modeling studies alike [62] suggest that parameter values in the nervous system vary largely, even between individuals in the same species, despite indistinguishable performance. This suggests that laboring over the decision of how to tune redundant parameters is not important, as long as the resulting motion is useful.…”

Section: Redundant Parametersmentioning

confidence: 99%

Bio-Inspired Robotics

2018

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Cover image courtesy of UBTECH.Articles in this volume are Open Access and distributed under the Creative Commons Attribution (CC BY) license, which allows users to download, copy and build upon published articles even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum dissemination and a wider impact of our publications. The book taken as a whole is

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“…A more detailed and accurate representation of the environment can be achieved by the use of LiDAR sensors, sometimes combined with ultrasound sensors as in [62]. The use of LiDAR even allows for the generation of richer and more complete maps.…”

Section: Survey Of Environment Perception For Locomotion In Snake Robotsmentioning

confidence: 99%

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

et al. 2017

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In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion) and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion) to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.

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Obstacle avoidance research of snake-like robot based on multi-sensor information fusion

Cited by 5 publications

References 6 publications

The snake-inspired robots: a review

The snake-inspired robots: a review

Bio-Inspired Robotics

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

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